EP0551854A3 - Automatic pickup system and method - Google Patents

Automatic pickup system and method Download PDF

Info

Publication number
EP0551854A3
EP0551854A3 EP19930100292 EP93100292A EP0551854A3 EP 0551854 A3 EP0551854 A3 EP 0551854A3 EP 19930100292 EP19930100292 EP 19930100292 EP 93100292 A EP93100292 A EP 93100292A EP 0551854 A3 EP0551854 A3 EP 0551854A3
Authority
EP
European Patent Office
Prior art keywords
pickup system
automatic pickup
automatic
pickup
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP19930100292
Other versions
EP0551854B1 (en
EP0551854A2 (en
Inventor
Stefano Chini
Stefano Giuseppe Di
Armando Neri
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
GD SpA
Original Assignee
GD SpA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=11337912&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=EP0551854(A3) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by GD SpA filed Critical GD SpA
Publication of EP0551854A2 publication Critical patent/EP0551854A2/en
Publication of EP0551854A3 publication Critical patent/EP0551854A3/en
Application granted granted Critical
Publication of EP0551854B1 publication Critical patent/EP0551854B1/en
Anticipated expiration legal-status Critical
Revoked legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H19/00—Changing the web roll
    • B65H19/10—Changing the web roll in unwinding mechanisms or in connection with unwinding operations
    • B65H19/12—Lifting, transporting, or inserting the web roll; Removing empty core
    • B65H19/123—Lifting, transporting, or inserting the web roll; Removing empty core with cantilever supporting arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2301/00—Handling processes for sheets or webs
    • B65H2301/40—Type of handling process
    • B65H2301/41—Winding, unwinding
    • B65H2301/413—Supporting web roll
    • B65H2301/4132—Cantilever arrangement
    • B65H2301/41322—Cantilever arrangement pivoting movement of roll support
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2406/00—Means using fluid
    • B65H2406/30—Suction means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2553/00—Sensing or detecting means
    • B65H2553/40—Sensing or detecting means using optical, e.g. photographic, elements
    • B65H2553/42—Cameras

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
EP93100292A 1992-01-13 1993-01-11 Automatic pickup system and method Revoked EP0551854B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ITBO920008A IT1258006B (en) 1992-01-13 1992-01-13 SYSTEM AND METHOD FOR THE AUTOMATIC COLLECTION OF OBJECTS
ITBO920008 1992-01-13

Publications (3)

Publication Number Publication Date
EP0551854A2 EP0551854A2 (en) 1993-07-21
EP0551854A3 true EP0551854A3 (en) 1994-08-10
EP0551854B1 EP0551854B1 (en) 1997-07-30

Family

ID=11337912

Family Applications (1)

Application Number Title Priority Date Filing Date
EP93100292A Revoked EP0551854B1 (en) 1992-01-13 1993-01-11 Automatic pickup system and method

Country Status (5)

Country Link
US (1) US5608818A (en)
EP (1) EP0551854B1 (en)
JP (1) JPH0825639B2 (en)
DE (1) DE69312516T2 (en)
IT (1) IT1258006B (en)

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US5657394A (en) * 1993-06-04 1997-08-12 Integrated Technology Corporation Integrated circuit probe card inspection system
US5452368A (en) * 1993-08-02 1995-09-19 Motorola, Inc. Method of detecting defects in semiconductor package leads
DE4416707A1 (en) * 1994-05-11 1995-11-16 Tax Ingenieurgesellschaft Mbh Method for correcting the destination of a load carrier and load transport system
US5802201A (en) * 1996-02-09 1998-09-01 The Trustees Of Columbia University In The City Of New York Robot system with vision apparatus and transparent grippers
US6249591B1 (en) * 1997-08-25 2001-06-19 Hewlett-Packard Company Method and apparatus for control of robotic grip or for activating contrast-based navigation
US5934049A (en) 1998-01-27 1999-08-10 Cerf; Alain Automated film wrapping apparatus
DE19839144B4 (en) * 1998-08-28 2004-07-08 Lemo Maschinenbau Gmbh Device for producing and transporting stacks of plastic bags, in particular automatic bags
DE50210152D1 (en) * 2001-02-27 2007-06-28 Focke & Co Device for supplying packaging machines with packaging material
ITBO20010289A1 (en) 2001-05-11 2002-11-11 Gd Spa METHOD AND DEVICE FOR FEEDING REELS TO AN OPERATING MACHINE
JP2005515910A (en) * 2002-01-31 2005-06-02 ブレインテック カナダ インコーポレイテッド Method and apparatus for single camera 3D vision guide robotics
US7662257B2 (en) * 2005-04-21 2010-02-16 Georgia-Pacific Consumer Products Llc Multi-ply paper towel with absorbent core
EP1495999A1 (en) * 2003-07-10 2005-01-12 Hauni Maschinenbau AG Device for de-stacking a pile of bobbins with a laser range measuring system and use of a laser range measuring system to capture the topographic data of a pile of bobbins
WO2005060629A2 (en) * 2003-12-11 2005-07-07 Strider Labs, Inc. Probable reconstruction of surfaces in occluded regions by computed symmetry
US20050201638A1 (en) * 2004-03-12 2005-09-15 Hanbyn Cha Method and system for measuring an object in digital image
US7585388B2 (en) * 2005-06-24 2009-09-08 Georgia-Pacific Consumer Products Lp Fabric-creped sheet for dispensers
WO2007149183A2 (en) * 2006-05-25 2007-12-27 Braintech Canada, Inc. System and method of robotically engaging an object
DE102006043810A1 (en) * 2006-09-13 2008-03-27 Hauni Maschinenbau Ag Determining a bobbin center in a bobbin handling device
WO2008036354A1 (en) * 2006-09-19 2008-03-27 Braintech Canada, Inc. System and method of determining object pose
WO2008076942A1 (en) * 2006-12-15 2008-06-26 Braintech Canada, Inc. System and method of identifying objects
US7957583B2 (en) * 2007-08-02 2011-06-07 Roboticvisiontech Llc System and method of three-dimensional pose estimation
US8559699B2 (en) * 2008-10-10 2013-10-15 Roboticvisiontech Llc Methods and apparatus to facilitate operations in image based systems
US8941726B2 (en) * 2009-12-10 2015-01-27 Mitsubishi Electric Research Laboratories, Inc. Method and system for segmenting moving objects from images using foreground extraction
US9919887B2 (en) * 2014-08-28 2018-03-20 The Procter & Gamble Company Web material unwind stand
US9969587B2 (en) * 2014-08-28 2018-05-15 The Procter & Gamble Company Web material unwind apparatus
FR3032366B1 (en) * 2015-02-10 2017-02-03 Veolia Environnement-VE SELECTIVE SORTING PROCESS
DE102015208136A1 (en) * 2015-04-30 2016-11-03 Krones Aktiengesellschaft Method and device for conveying, providing and exchanging rolls of packaging material in a packaging machine
DE102015208118A1 (en) 2015-04-30 2016-11-03 Krones Aktiengesellschaft Method and device for conveying, providing and exchanging rolls of packaging material in a packaging machine
DE102015211620A1 (en) 2015-06-23 2016-12-29 Krones Aktiengesellschaft Packaging machine and method for conveying, providing and exchanging rolls of packaging material in such a packaging machine
DE102016206183A1 (en) 2016-04-13 2017-10-19 Krones Aktiengesellschaft Method and apparatus for providing roll-wound packaging material for articles such as beverage containers or the like
DE102016206172A1 (en) * 2016-04-13 2017-10-19 Krones Aktiengesellschaft Apparatus and method for providing roll-wound packaging material for articles such as beverage containers or the like
CN106829469A (en) * 2017-03-30 2017-06-13 武汉库柏特科技有限公司 A kind of unordered grabbing device of robot based on double camera and method
DE102017206549A1 (en) 2017-04-19 2018-10-25 Robert Bosch Gmbh Consumables handling device for transporting and / or handling at least one consumable material, in particular a packaging material
EP3578344B1 (en) * 2017-06-20 2022-10-19 Fameccanica.Data S.p.A. A method for automatically loading reels into an unwinding assembly
DE102018217470A1 (en) * 2018-10-12 2020-04-16 Krones Ag Method for using a robot system and robot system for a container processing system

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0020832A1 (en) * 1979-06-26 1981-01-07 Excellon Industries Pattern recognition system and method for using this system
EP0327069A2 (en) * 1988-02-01 1989-08-09 Toyoda Koki Kabushiki Kaisha Object recognition system for a robot

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US4192004A (en) * 1977-09-08 1980-03-04 Buerger Walter R Topological transformation system
JPS5743279A (en) * 1980-08-29 1982-03-11 Fujitsu Ltd Method for detecting position of x-y symmetrical body
US4727471A (en) * 1985-08-29 1988-02-23 The Board Of Governors For Higher Education, State Of Rhode Island And Providence Miniature lightweight digital camera for robotic vision system applications
JPH0679325B2 (en) * 1985-10-11 1994-10-05 株式会社日立製作所 Position and orientation determination method
US4707647A (en) * 1986-05-19 1987-11-17 Gmf Robotics Corporation Gray scale vision method and system utilizing same
JPS6317735A (en) * 1986-07-07 1988-01-25 Okura Yusoki Co Ltd Takeout device
JP2556484B2 (en) * 1986-10-20 1996-11-20 キヤノン株式会社 Figure contour extraction device
US5073957A (en) * 1987-09-13 1991-12-17 Canon Kabushiki Kaisha Graphic editing system
DE58908000D1 (en) * 1988-07-28 1994-08-11 Contraves Ag Automatic brightness and contrast control of a video camera for industrial / military purposes.

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0020832A1 (en) * 1979-06-26 1981-01-07 Excellon Industries Pattern recognition system and method for using this system
EP0327069A2 (en) * 1988-02-01 1989-08-09 Toyoda Koki Kabushiki Kaisha Object recognition system for a robot

Non-Patent Citations (3)

* Cited by examiner, † Cited by third party
Title
FARROHA B.S. ET AL.: "Problems in Robotic Vision", IEEE PROCEEDINGS OF THE SOUTHEASTCON '91, 1991, NEW YORK, US, pages 341 - 345, XP000286870 *
GRIGORE C. BURDEA & HAIM J. WOLFSON: "Solving Jigsaw Puzzles by a Robot", IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, vol. 5, no. 6, December 1989 (1989-12-01), NEW YORK US, pages 752 - 764, XP000101960 *
MASAO TSUJI, TOMOYA TOMITA & KENJI SUZUKI: "Development of the FIC Mounting Machine with Vision System", HITACHI REVIEW, vol. 36, no. 2, April 1987 (1987-04-01), TOKYO JP, pages 65 - 70, XP001454640 *

Also Published As

Publication number Publication date
DE69312516D1 (en) 1997-09-04
EP0551854B1 (en) 1997-07-30
EP0551854A2 (en) 1993-07-21
JPH05246545A (en) 1993-09-24
JPH0825639B2 (en) 1996-03-13
DE69312516T2 (en) 1998-02-19
ITBO920008A1 (en) 1993-07-13
ITBO920008A0 (en) 1992-01-13
US5608818A (en) 1997-03-04
IT1258006B (en) 1996-02-20

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